Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial Applications

The utilization of autonomous unmanned aerial vehicles (UAVs) has increased rapidly due to their ability to perform a variety of tasks, including industrial inspection. Conducting testing with actual flights within industrial facilities proves to be both expensive and hazardous, posing risks to the...

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Authors: Perez-Segui, Rafael, Arias-Perez, Pedro, Melero-Deza, Javier, Fernández Cortizas, Miguel, Pérez Saura, David, Campoy, Pascual
Format: article
Status:Published version
Publication Date:2023
Country:España
Institution:Consejo Superior de Investigaciones Científicas (CSIC)
Repository:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/369214
Online Access:http://hdl.handle.net/10261/369214
Access Level:Open access
Keyword:ROS 2
photovoltaic plant
industrial inspections
Aerostack2
aerial robotics
wind turbine
UAV
Sim2Real
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oai_identifier_str oai:digital.csic.es:10261/369214
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spelling Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial ApplicationsPerez-Segui, RafaelArias-Perez, PedroMelero-Deza, JavierFernández Cortizas, MiguelPérez Saura, DavidCampoy, PascualROS 2photovoltaic plantindustrial inspectionsAerostack2aerial roboticswind turbineUAVSim2RealThe utilization of autonomous unmanned aerial vehicles (UAVs) has increased rapidly due to their ability to perform a variety of tasks, including industrial inspection. Conducting testing with actual flights within industrial facilities proves to be both expensive and hazardous, posing risks to the system, the facilities, and their personnel. This paper presents an innovative and reliable methodology for developing such applications, ensuring safety and efficiency throughout the process. It involves a staged transition from simulation to reality, wherein various components are validated at each stage. This iterative approach facilitates error identification and resolution, enabling subsequent real flights to be conducted with enhanced safety after validating the remainder of the system. Furthermore, this article showcases two use cases: wind turbine inspection and photovoltaic plant inspection. By implementing the suggested methodology, these applications were successfully developed in an efficient and secure manner.This work has been supported by the project COPILOT ref. Y2020\EMT6368 “Control, Monitoring and Operation of Photovoltaic Solar Power Plants by means of synergic integration of Drones, IoT, and advanced communication technologies”, funded by Madrid Government under the R&D Synergic Projects Program. We acknowledge the support of the European Union through the Horizon Europe Project No. 101070254 CORESENSE. This work has also been supported by the project INSERTION ref. ID2021-127648OBC32, “UAV Perception, Control and Operation in Harsh Environments”, which was funded by the Spanish Ministry of Science and Innovation under the program “Projects for Knowledge Generating”. In addition, this work has also been supported by the project RATEC ref: PDC2022-133643-C22 “Localization and planning of thetered aerial+ground robots for inspection and maintenance tasks” funded by the Spanish Ministry of Science and Innovation. The work of the second author is supported by the Grant FPU20/07198 of the Spanish Ministry for Universities. The work of the fifth author is supported by the Spanish Ministry of Science and Innovation under its Program for Technical Assistants PTA2021-020671.Peer reviewedMultidisciplinary Digital Publishing InstituteMinisterio de Ciencia, Innovación y Universidades (España)European CommissionPerez-Segui, Rafael [ 0000-0002-9508-1055]Arias-Perez, Pedro [0000-0001-7166-9367]Melero-Deza, Javier [0000-0002-1420-2960]Fernandez-Cortizas, Miguel [0000-0002-3822-075X]Perez-Saura, David [0000-0003-2571-3165]Campoy, Pascual [0000-0002-9894-2009]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202420242023info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Publisher's versioninfo:eu-repo/semantics/publishedVersionhttp://hdl.handle.net/10261/369214reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Ingléshttps://doi.org/ 10.3390/aerospace10090814Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/3692142026-05-22T06:33:51Z
dc.title.none.fl_str_mv Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial Applications
title Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial Applications
spellingShingle Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial Applications
Perez-Segui, Rafael
ROS 2
photovoltaic plant
industrial inspections
Aerostack2
aerial robotics
wind turbine
UAV
Sim2Real
title_short Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial Applications
title_full Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial Applications
title_fullStr Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial Applications
title_full_unstemmed Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial Applications
title_sort Bridging the Gap between Simulation and Real Autonomous UAV Flights in Industrial Applications
dc.creator.none.fl_str_mv Perez-Segui, Rafael
Arias-Perez, Pedro
Melero-Deza, Javier
Fernández Cortizas, Miguel
Pérez Saura, David
Campoy, Pascual
author Perez-Segui, Rafael
author_facet Perez-Segui, Rafael
Arias-Perez, Pedro
Melero-Deza, Javier
Fernández Cortizas, Miguel
Pérez Saura, David
Campoy, Pascual
author_role author
author2 Arias-Perez, Pedro
Melero-Deza, Javier
Fernández Cortizas, Miguel
Pérez Saura, David
Campoy, Pascual
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Ministerio de Ciencia, Innovación y Universidades (España)
European Commission
Perez-Segui, Rafael [ 0000-0002-9508-1055]
Arias-Perez, Pedro [0000-0001-7166-9367]
Melero-Deza, Javier [0000-0002-1420-2960]
Fernandez-Cortizas, Miguel [0000-0002-3822-075X]
Perez-Saura, David [0000-0003-2571-3165]
Campoy, Pascual [0000-0002-9894-2009]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv ROS 2
photovoltaic plant
industrial inspections
Aerostack2
aerial robotics
wind turbine
UAV
Sim2Real
topic ROS 2
photovoltaic plant
industrial inspections
Aerostack2
aerial robotics
wind turbine
UAV
Sim2Real
description The utilization of autonomous unmanned aerial vehicles (UAVs) has increased rapidly due to their ability to perform a variety of tasks, including industrial inspection. Conducting testing with actual flights within industrial facilities proves to be both expensive and hazardous, posing risks to the system, the facilities, and their personnel. This paper presents an innovative and reliable methodology for developing such applications, ensuring safety and efficiency throughout the process. It involves a staged transition from simulation to reality, wherein various components are validated at each stage. This iterative approach facilitates error identification and resolution, enabling subsequent real flights to be conducted with enhanced safety after validating the remainder of the system. Furthermore, this article showcases two use cases: wind turbine inspection and photovoltaic plant inspection. By implementing the suggested methodology, these applications were successfully developed in an efficient and secure manner.
publishDate 2023
dc.date.none.fl_str_mv 2023
2024
2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Publisher's version
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/369214
url http://hdl.handle.net/10261/369214
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv https://doi.org/ 10.3390/aerospace10090814
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
publisher.none.fl_str_mv Multidisciplinary Digital Publishing Institute
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869417721064587264
score 15.811543

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